Datasheet

TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 86
www.trinamic.com
CFG1 AND CFG2: SETS MICROSTEP RESOLUTION FOR STEP INPUT
CFG2, CFG1
Microsteps
Interpolation
Chopper Mode
Registers
GND, GND
1 (Fullstep)
N
spreadCycle
MRES=8, intpol=0
GND, VCC_IO
2 (Halfstep)
N
MRES=7, intpol=0
GND, open
2 (Halfstep)
Y, to 256 µsteps
MRES=7, intpol=1
VCC_IO, GND
4 (Quarterstep)
N
MRES=6, intpol=0
VCC_IO, VCC_IO
16 µsteps
N
MRES=4, intpol=0
VCC_IO, open
4 (Quarterstep)
Y, to 256 µsteps
MRES=6, intpol=1
open, GND
16 µsteps
Y, to 256 µsteps
MRES=4, intpol=1
open, VCC_IO
4 (Quarterstep)
Y, to 256 µsteps
stealthChop
MRES=6, intpol=1,
en_PWM_mode=1
open, open
16 µsteps
Y, to 256 µsteps
MRES=4, intpol=1,
en_PWM_mode=1
CFG3: SETS MODE OF CURRENT SETTING
CFG3
Current Setting
Registers
GND
Internal reference voltage. Current scale set by sense
resistors, only.
VCC_IO
Internal sense resistors. Use analog input current on
AIN as reference current for internal sense resistor.
This setting gives best results when combined with
stealthChop voltage PWM chopper.
internal_Rsense=1
open
External reference voltage on pin AIN. Current scale set
by sense resistors and scaled by AIN.
I_scale_analog=1
CFG4: SETS CHOPPER HYSTERESIS (TUNING OF ZERO CROSSING PRECISION)
CFG4
HEND Setting
Registers
GND
5 (recommended, most universal choice)
HEND=7
VCC_IO
9
HEND=11
open
13
HEND=15
CFG5: SETS CHOPPER BLANK TIME (DURATION OF BLANKING OF SWITCHING SPIKE)
CFG5
Blank time (in number of clock cycles)
Registers
GND
16
TBL=%00
VCC_IO
24 (recommended, most universal choice)
TBL=%01
open
36
TBL=%10